Folding Device

ABSTRACT

Disclosed is a folding device, comprising: a first folding part, configured to fold, for a first time in a first direction, a folded object in half; a second folding part, configured to fold for a second time in a second direction in half, the folded object that has been folded in half for the first time, wherein the first direction is opposite to the second direction; a third folding part, configured to fold, for a third time in a third direction, one end of the folded object that has been folded in half for the second time, wherein the third direction is perpendicular to the second direction; a fourth folding part, configured to fold, for a fourth time in a fourth direction, the other end of the folded object that has been folded in half for the second time, where the fourth direction is opposite to the third direction.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation Application of International Application No. PCT/CN2020/081587, filed on Mar. 27, 2020, which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

This application relates to mechanical design technology, and in particular, to a folding device.

BACKGROUND

In modern life, some sheet-shaped living items are often used. In order to facilitate storage and transportation, it is often necessary to fold these sheet-shaped living items into items with a smaller area. For example, napkins, the special cleaning towels for banquets, are mostly used for western food. People place napkins on their laps or chests during meals. Napkin is also called a serviette. Folding napkins is one of the preparations before meals. Restaurant staff folds napkins and placed them on a table for use by guests during the meal. However, due to the gradual increase in labor costs, staff of folding napkins has a high work intensity and low efficiency. It can be seen that there is an urgent need to develop a device that can automatically fold these sheet-like items.

SUMMARY

In view of this, this application provides a folding device, which solves the problems of high labor cost and low folding efficiency of the existing folding method.

A folding device according to an embodiment of this application includes: a first folding part, configured to fold, for the first time in a first direction, a folded object in half; a second folding part, configured to fold for the second time in a second direction in half, the folded object that has been folded in half for the first time, wherein the first direction is opposite to the second direction; a third folding part, configured to fold, for the third time in a third direction, one end of the folded object that has been folded in half for the second time, wherein the third direction is perpendicular to the second direction; a fourth folding part, configured to fold, for the fourth time in a fourth direction, the other end of the folded object that has been folded in half for the second time, wherein the fourth direction is opposite to the third direction; and a transfer part, configured to transfer, in a direction from the third folding part to the fourth folding part, the folded object that has been folded for the fourth time to the fourth folding part, wherein the fourth folding part is further configured to fold, for the fifth time in the fourth direction, the folded object in half after the folded object that has been folded for the fourth time is transported by the transfer part to the fourth folding part.

In an embodiment of this application, the first folding part includes a first folding axis and a first folding plate folded along the first folding axis; the second folding part includes a second folding axis and a second folding plate folded along the second folding axis; the third folding part includes a third folding axis and a third folding plate folded along the third folding axis; and the fourth folding part includes a fourth folding axis and a fourth folding plate folded along the fourth folding axis. The first folding axis is parallel to the second folding axis. The third folding axis and the fourth folding axis are located between the first folding axis and the second folding axis, and both are perpendicular to the first folding axis.

In an embodiment of this application, a surface of the second folding plate includes a first crease pressing block disposed, in a direction perpendicular to the second folding axis, correspondingly with the third folding axis; and a second crease pressing block disposed, in the direction perpendicular to the second folding axis, correspondingly with the fourth folding axis; and/or a third crease pressing block disposed, in the direction perpendicular to the second folding axis, correspondingly with the center line of the gap between the third folding axis and the fourth folding axis.

In an embodiment of this application, the surface of the second folding plate includes a plurality of the first crease pressing blocks, and the connection line of the plurality of the first crease pressing blocks is parallel to the axis of the third folding axis. The surface of the second folding plate includes a plurality of the second crease pressing blocks, and the connection line of the plurality of the second crease pressing blocks is parallel to the axis of the fourth folding axis. The surface of the second folding plate includes a plurality of the third crease pressing blocks, and the connection line of the plurality of third crease pressing blocks is parallel to the center line of the gap between the third folding axis and the fourth folding axis.

In an embodiment of this application, the first crease pressing block and/or the second crease pressing block and/or the third crease pressing block are elongated blocks, and a cross-section of the elongated block includes a triangular head.

In an embodiment of this application, the folded object is square. A width of the first folding plate in a direction perpendicular to the first folding axis is half of a width of the folded object, a width of the second folding plate in a direction perpendicular to the second folding axis is a quarter of the width of the folded object, a width of the third folding plate in a direction perpendicular to the third folding axis is a quarter of the width of the folded object, and a width of the fourth folding plate in a direction perpendicular to the fourth folding axis is a quarter of the width of the folded object. Spacing between the first folding axis and the second folding axis is a quarter of the width of the folded object, and spacing between the third folding axis and the fourth folding axis is half of the width of the folded object.

In an embodiment of this application, the device further includes: a controller, electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the transfer part respectively. The controller is configured to control, by sending a control command, the first folding part, the second folding part, the third folding part and the fourth folding part to complete their respective folding actions, and the transfer part to complete the transfer. The controller is further configured to control the transfer part to transfer the center line, parallel to the fourth folding axis, of the folded object that has been folded for the fourth time to a position above the fourth folding axis.

In an embodiment of this application, the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate are each provided with a plurality of air holes on their surfaces.

In an embodiment of this application, the transfer part includes a single transfer belt mechanism or a plurality of transfer belt mechanisms arranged side by side in parallel. The third folding plate includes a plurality of third folding units dispersedly arranged in the gap between the single transfer belt mechanism or the plurality of the transfer belt mechanisms, the first folding axis and the second folding axis, where each of the third folding units is folded along the third folding axis. The fourth folding plate includes a plurality of fourth folding units dispersedly arranged in the gap between the single transfer belt mechanism or the plurality of the transfer belt mechanisms, the first folding axis and the second folding axis, where each of the fourth folding units is folded along the fourth folding axis.

In an embodiment of this application, the third folding part includes: a third rotation drive unit disposed below the third folding axis; a third rocker fixedly connected to the rotation axis of the third rotation drive unit; and a third bent connecting rod rotatably connected to the third rocker and the third folding unit, respectively. The third folding unit includes a support part and a connection part that are not parallel connected, where one end of the support part is connected to the third bent connecting rod, the other end of the support part is rotatably connected to the third folding axis through the connection part, and the support part is located below a transfer belt of the transfer belt mechanism in an unfolded state.

In an embodiment of this application, the transfer belt mechanism includes: a transfer drive motor; a transfer wheel set fixedly connected to a rotation axis of the transfer drive motor; and a transfer belt disposed on transfer wheels of the transfer wheel set.

In an embodiment of this application, the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate use one or more combinations of the following materials: carbon fiber plate, epoxy resin plate, acrylonitrile/butadiene/styrene copolymer plate and acrylic plate.

In an embodiment of this application, a maximum folding angle of the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate ranges from 120° to 180°.

In an embodiment of this application, the first folding part further includes: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis. The first drive mechanism includes: a first drive subunit; a first rocker fixedly connected to the rotation axis of the first drive subunit; and a first bent connecting rod rotatably connected to the first rocker and the first folding plate respectively.

In an embodiment of this application, the first folding part further includes: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis. The first drive mechanism includes a first linear drive unit. The first linear drive unit includes a second drive subunit, a slider, a linear guide rod and a rotation axis base, where the second drive subunit is configured to drive the slider to move along the linear guide rod, and one end of the linear guide rod is rotatably connected to the rotation axis base. The first linear drive unit further includes a fourth connecting rod, where one end of the fourth connecting rod is fixedly connected to the first folding axis, and the other end is rotatably connected to the slider.

In an embodiment of this application, the first folding part further includes: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; and a stroke feedback unit, configured to send a stroke feedback signal when the first folding plate is folded to a preset angle or folded back to the initial position.

In an embodiment of this application, the device further includes: a controller, electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the transfer part, respectively. The controller is configured to control, by sending control commands, the first folding part, the second folding part, the third folding part and the fourth folding part to complete their respective folding actions, and the transfer part to complete the transfer. The controller is further configured to control the third folding part and the fourth folding part to complete the folding for the third time and the fourth time respectively at the same time.

In an embodiment of this application, the controller is further configured to control the transfer part to continue transfer the folded object that has been folded in half for the fifth time to a next process position after the folded object is folded in half for the fifth time.

In an embodiment of this application, the device further includes: a grasping mechanism, configured to grasp a folded object and release the folded object on a plane that is formed by the first folding plate and the second folding plate when they are not folded.

In an embodiment of this application, the grasping mechanism includes a plurality of grasping units that are dispersedly arranged, where the plurality of grasping units include one or more combinations of the following items: a needle chuck, an electrostatic chuck and a pneumatic gripper.

The folding device according to the embodiment of this application uses the first folding part, the second folding part, the third folding part, and the fourth folding part to respectively perform folding four times, and then reuses the fourth folding part to perform folding for the fifth time, so that automatic folding of a folded object can be realized, and the area of the folded object is greatly reduced. In addition, the entire folding process is accurate and efficient, which can greatly improve the efficiency of folding for the folded object, thereby significantly improving user experience during storage or transportation of the folded object.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic structural diagram of a folding device according to an embodiment of this application;

FIG. 2 is a schematic structural diagram of a second folding plate of a folding device according to an embodiment of this application;

FIG. 3 is a schematic structural diagram of a transfer part, a third folding part, and a fourth folding part of a folding device according to an embodiment of this application;

FIG. 4 is a schematic structural diagram of a first folding plate of a folding device according to an embodiment of this application;

FIG. 5 is a schematic structural diagram of a first drive mechanism of a folding device according to an embodiment of this application; and

FIG. 6 is a schematic structural diagram of a first drive mechanism of a folding device according to another embodiment of this application.

DETAILED DESCRIPTION OF THE EMBODIMENTS

To make the objectives, technical solutions, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a folding device according to an embodiment of this application. As shown in FIG. 1, the folding device includes a first folding part 10, a second folding part 20, a third folding part 30, a fourth folding part 40, and a transfer part 50.

Specifically, the first folding part 10 is configured to fold, for the first time in a first direction (that is, a bottom-to-top direction in FIG. 1), a folded object in half. It should be understood that, the folded object may be a sheet-like foldable item, such as a napkin, a bath towel, clothing, or the like. However, the specific type and material of the folded object are not strictly limited in this application. As long as the object to be folded is sufficiently soft, the folding device according to the embodiment of this application can be used for folding.

The second folding part 20 is configured to fold for the second time in a second direction (that is, a top-to-bottom direction in FIG. 1) in half, the folded object that has been folded in half for the first time, where the first direction is opposite to the second direction.

The third folding part 30 is configured to fold, for the third time in a third direction (that is a left-to-right direction in FIG. 1), one end of the folded object that has been folded in half for the second time, where the third direction is perpendicular to the second direction. It is worth noting that, the folding for the third time is not a half folding process as the folding for the first time and the second time. In this process, one end of the folded object is folded to the middle of the folded object.

The fourth folding part 40 is configured to fold, for the fourth time in a fourth direction (that is, a right-to-left direction in FIG. 1), the other end of the folded object that has been folded in half for the second time, where the fourth direction is opposite to the third direction. It is worth noting that, the folding for the fourth time is not a half folding process as the folding for the first time and the second time either. In this process, the other end of the folded object is folded to the middle of the folded object.

The transfer part 50 is configured to transfer, in a direction from the third folding part 30 to the fourth folding part 40 (that is, the left-to-right direction in FIG. 1), the folded object that has been folded for the fourth time to the fourth folding part 40, so that the fourth folding part 40 can perform a next folding step.

After the folded object that has been folded for the fourth time is transported to the fourth folding part 40 by the transfer part 50, the fourth folding part 40 folds the folded object in half for the fifth time in the fourth direction (that is, the right-to-left direction in FIG. 1), and thus a folding process for the folded object is completed.

In an embodiment of this application, as shown in FIG. 1, the first folding part 10 includes a first folding axis 101 and a first folding plate 102 folded along the first folding axis 101; the second folding part 20 includes a second folding axis 201 and a second folding plate 202 folded along the second folding axis 201; the third folding part 30 includes a third folding axis 301 and a third folding plate 302 folded along the third folding axis 301; and the fourth folding part 40 includes a fourth folding axis 401 and a fourth folding plate 402 folded along the fourth folding axis 401. The first folding axis 101 is parallel to the second folding axis 201; and the third folding axis 301 and the fourth folding axis 401 are both located between the first folding axis 101 and the second folding axis 201 and perpendicular to the first folding axis 101. Therefore, both are also perpendicular to the second folding axis 201. In an embodiment of this application, the folding device further includes a controller 60 electrically connected to the first folding part 10, the second folding part 20, the third folding part 30, the fourth folding part 40, and the transfer part 50, respectively. The controller 60 is configured to control, by sending control commands, the first folding part 10, the second folding part 20, the third folding part 30, and the fourth folding part 40 to complete their respective folding actions, and the transfer part 50 to complete the transfer.

In this way, when the folded object needs to be folded, the controller 60 controls the first folding part 10 to move first, so that the first folding plate 102 is folded along the first folding axis 101 to fold the folded object in half for the first time from bottom to top shown in FIG. 1. Then the controller 60 controls the second folding part 20 to move, so that the second folding plate 202 is folded along the second folding axis 201 to fold the folded object in half for the second time from top to bottom shown in FIG. 1. Next, the controller 60 controls the third folding part 30 and the fourth folding part 40 to move, so that the third folding plate 302 is folded along the third folding axis 301 to fold the folded object for the third time from left to right shown in FIG. 1, and the fourth folding plate 402 is folded along the fourth folding axis 401 to fold the folded object for the fourth time from right to left shown in FIG. 1. After that, the controller 60 controls the transfer part 50 to transfer the folded object that has been folded four times to a position above the fourth folding part 40, and the fourth folding plate 402 is folded again along the fourth folding axis 401 to fold the folded object in half for the fifth time from right to left shown in FIG. The area of the folded object is greatly reduced after the folding of five times.

It can be seen that, the folding device according to the embodiment of this application uses the first folding part 10, the second folding part 20, the third folding part 30, and the fourth folding part 40 to respectively perform folding four times, and then reuses the fourth folding part 40 to perform folding for the fifth time, so that automatic folding of a folded object can be realized, and the area of the folded object is greatly reduced. In addition, the entire folding process is accurate and efficient, which can greatly improve the efficiency of folding for the folded object, thereby significantly improving user experience during storage or transportation of the folded object.

FIG. 2 is a schematic structural diagram of a second folding plate 202 of a folding device according to an embodiment of this application. As shown in FIG. 2, a surface of the second folding plate 202 includes a first crease pressing block 2021 disposed, in a direction perpendicular to the second folding axis 201, correspondingly with the third folding axis 301, a second crease pressing block 2022 disposed, in the direction perpendicular to the second folding axis 201, correspondingly with the fourth folding axis 401; and a third crease pressing block 2023 disposed, in the direction perpendicular to the second folding axis 201, correspondingly with the center line of the gap between the third folding axis 301 and the fourth folding axis 401.

Since the third folding axis 301 itself is perpendicular to the second folding axis 201, disposing, in the direction perpendicular to the second folding axis 201, correspondingly with the third folding axis 301 or the fourth folding axis 401 means that the first crease pressing block 2021 or the second crease pressing block 2022 is aligned with the axis of the third folding axis 301 or the fourth folding axis 401 in the direction perpendicular to the second folding axis 201, and the axis of the third folding axis 301 and the fourth folding axis 401 correspond to creases formed after the third folding part 30 and the fourth folding part 40 fold a folded object for the third time and the fourth time, respectively. Since the folded object that has been folded four times is transported to the fourth folding part 40, the center line of the gap between the third folding axis 301 and the fourth folding axis 401 actually corresponds to the axis of the fourth folding axis 401 formed when the folded object is folded in half for the fifth time.

After the folded object is folded in half for the second time, the area of the folded object has been reduced, but the thickness of the stack also increases. The increase in thickness may bring difficulties when the folded object is folded for the third time and the fourth time, and folded in half for the fifth time subsequently. Therefore, disposing the first crease pressing block 2021, the second crease pressing block 2022, and the third crease pressing block 2023 on the second folding plate 202 allows grooves corresponding to the creases of the subsequent folding processes to be formed on a surface of the folded object that has been folded in half for the second time, so that subsequently the folded object is folded for the third time and the fourth time, and folded in half for the fifth time smoothly based on these grooves.

In a further example of this application, as shown in FIG. 2, in order to ensure straightness of the formed grooves corresponding to the creases, and further achieve the balance between convenience of these grooves for the subsequent folding processes and materials used for crease pressing blocks, the surface of the second folding plate 202 may include: a plurality of first crease pressing blocks 2021, where the connection line of the plurality of first crease pressing blocks 2021 is parallel to the axis of the third folding axis 301; a plurality of second crease pressing blocks 2022, where the connection line of the plurality of second crease pressing blocks 2022 is parallel to the axis of the fourth folding axis 401; and a plurality of third crease pressing blocks 2023, where the connection line of the third crease pressing blocks 2023 is parallel to the center line of the gap between the third folding axis 301 and the fourth folding axis 401. In this way, even if the first crease pressing block 2021, the second crease pressing block 2022, and the third crease pressing block 2023 are not long enough, effective grooves can still be formed.

In a further example of this application, as shown in FIG. 2, the first crease pressing block 2021 and/or the second crease pressing block 2022 and/or the third crease pressing block 2023 are elongated, and a cross-section of the elongated block includes a triangular head. The triangular head is more conducive to forming linear and clear grooves on the surface of the folded object, so as to further improve the convenience for the subsequent folding processes.

However, it should be understood that in other embodiments of this application, according to the material and type of the folded object, the first crease pressing block 2021, the second crease pressing block 2022, and the third crease pressing block 2023 may not be disposed, or only a part of the above three types of crease pressing blocks are disposed. In this application, a specific type of the crease pressing blocks and a specific quantity of the crease pressing blocks included on the surface of the second folding plate 202 are strictly limited.

In an embodiment of this application, a folded object is a square (for example, a square napkin), and a size of the folded object may include, but is not limited to, 60 cm×60 cm, 55 cm×55 cm, and 50 cm×50 cm. As shown in FIG. 1, a width of the first folding plate 102 in a direction perpendicular to the first folding axis 101 is half of a width of the folded object, a width of the second folding plate 202 in a direction perpendicular to the second folding axis 201 is a quarter of the width of the folded object, a width of the third folding plate 302 in a direction perpendicular to the third folding axis 301 is a quarter of the width of the folded object, and a width of the fourth folding plate 402 in a direction perpendicular to the fourth folding axis 401 is a quarter of the width of the folded object. Spacing between first folding axis 101 and second folding axis 201 is a quarter of the width of the folded object, and spacing between third folding axis 301 and fourth folding axis 401 is half of the width of the folded object. When the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 are not folded, a formed projection contour on the horizontal plane corresponds to the square folded object. In this way, when a folding action is performed, as shown in FIG. 1, the controller 60 controls the first folding part 10 to move first, to fold the folded object in half for the first time, that is, the folded object is folded in half at the vertical 50% centerline position of an unfolded state of the folded object. Then the second folding part 20 moves, that is, the folded object is folded in half in the second step at the vertical 25% position of the unfolded state of the folded object. After that, the third folding part 30 and the fourth folding part 40 move respectively, that is, the folded object is folded for the third time and the fourth time at the horizontal 25% position and 75% position of the unfolded state of the folded object, respectively. At this time, the area of the folded object has been reduced to ⅛ of the original object, and it has a long shape. Two ends of the folded object am folded to the middle, and the two ends are opposite. After that, the controller 60 controls the transfer part 50 to transfer the center line, parallel to the fourth folding axis 401, of the folded object that has been folded for the fourth time to a position above the fourth folding axis 401. Since the width of the fourth folding plate 402 in the direction perpendicular to the fourth folding axis 401 is a quarter of the width of the folded object, the fourth folding plate 402 folds the folded object for the fifth time at this time can exactly fold in half the folded object that has been folded four times, that is, the fourth folding part 40 folds the folded object in half for the fifth time. In this way, the area of the folded object after being folded five times can only be 1/16 of the original object, which is very convenient for storage for subsequent storage and transportation.

FIG. 3 is a schematic structural diagram of a transfer part, a third folding part, and a fourth folding part of a folding device according to an embodiment of this application. As shown in FIG. 3, the transfer part 50 includes two transfer belt mechanisms 51 arranged side by side in parallel. The transfer belt mechanism 51 includes a transfer drive motor 511, a transfer wheel set 512 fixedly connected to a rotation axis of the transfer drive motor 511, and a transfer belt 513 disposed on transfer wheels of the transfer wheel set 512. Rotation of the rotation axis of the transmission drive motor 511 can cause the transmission wheels of the transmission wheel set 512 to rotate, and thereby drive the transmission belt 513 to rotate to realize the transmission of the folded object.

As shown in FIG. 3, the third folding plate 302 includes three third folding units 3021 dispersedly arranged in a gap between the two transfer mechanisms 51, the first folding axis 101, and the second folding axis 201, where each of the third folding unit 3021 is folded along the third folding axis 301. The fourth folding plate 402 includes three fourth folding units 4021 dispersedly arranged in the gap between the two transfer mechanisms 51, the first folding axis 101, and the second folding axis 201, where each of the fourth folding unit 4021 is folded along the fourth folding axis 401.

The third folding plate 302 and the fourth folding plate 402 are designed to include a plurality of folding units, and these folding units are distributed in a gap between the transfer mechanism 51, the first folding axis 101, and the second folding axis 201, so that rotation of the transfer belt 513 of the transfer belt mechanism 51 and folding actions of the folding units are not interfered with each other.

In a further embodiment, in order to further prevent the folding units from interfering with a rotation process of the transfer belt 513 before being folded, as shown in FIG. 3, the third folding part 30 may specifically include: a third rotation drive unit 303 disposed below the third folding axis 301; a third rocker 304 fixedly connected to the rotation axis of the third rotation drive unit 303; and a third bent connecting rod 305 rotatably connected to the third rocker 304 and the third folding unit 3021, respectively. The third folding unit 3021 includes a support part 30211 and a connection part 30212 which are not connected in parallel. One end of the support part 30211 is connected to the third bent connecting rod 305, and the other end of the support part 30211 is rotatably connected to the third folding axis 301 through the connection part 30212. The support part 30211 is located below the transfer belt 513 of the transfer belt mechanism 51 in an unfolded state.

As shown in FIG. 3, the rotation axis of the third rotation drive unit 303 drives the third rocker 304 to rotate, and drives the third folding unit 3021 to rotate along the third folding axis 301 through the third bent connecting rod 305. The support part 30211 of the third folding unit 3021 is configured to support the folded object to complete the folding action. Since the other end of the support part 30211 is rotatably connected to the third folding axis 301 through the connection part 30212, and the connection part 30212 faces downward, the support part 30211 is located below the transfer belt of the transfer belt mechanism 51 in an unfolded state, so as to effectively prevent the support part 30211 from interfering with a rotation process of the transfer belt 513 before being folded.

It should be understood that, the fourth folding part 40 may also be implemented with a structure similar to the third folding part 30, to prevent folding of the fourth folding unit 4021 from interfering with rotation of the transfer belt 513. That is, the fourth folding part 40 may specifically include: a fourth rotation drive unit disposed below the fourth folding axis 401; a fourth rocker fixedly connected to the rotation axis of the fourth rotation drive unit; and a fourth bent connecting rod rotatably connected to the fourth rocker and the fourth folding unit 4021, respectively. The fourth folding unit 4021 includes a support part and a connection part which are not connected in parallel. One end of the support part is connected to the fourth bent connecting rod, and the other end of the support part is rotatably connected to the fourth folding axis 401 through the connection part. The support part is located below the transfer belt of the transfer belt mechanism 51 in an unfolded state. A specific action manner of the fourth folding part 40 is not repeated herein.

In addition, it should be understood that although FIG. 3 illustrates that the transfer part 50 includes two transfer belt mechanisms 51, in other embodiments of this application, according to different requirements of an application scenario, the transfer part 50 may include a single transfer belt mechanism 51 or a plurality of transfer belt mechanisms 51 arranged side by side in parallel. In this case, the third folding plate 302 includes a plurality of third folding units 3021 dispersedly arranged in a gap between the single transfer belt mechanism 51 or the plurality of the transfer belt mechanisms 51, the first folding axis 101 and the second folding axis 201, where each of the third folding unit 3021 is folded along the third folding axis 301. The fourth folding plate 402 includes a plurality of fourth folding units 4021 dispersedly arranged in the gap between the single transfer belt mechanism 51 or the plurality of the transfer belt mechanisms 51, the first folding axis 101, and the second folding axis 201, where each of the fourth folding unit 4021 is folded along the fourth folding axis 401.

In an embodiment of this application, the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 are each provided with a plurality of air holes 60 on their surfaces. The first folding plate 102 shown in FIG. 4 is used an example. The surface of the first folding plate 102 includes a plurality of air holes 60 arranged in an array. The air holes 60 can effectively reduce air resistance when the first folding plate 102 is folded, and reduce weight of the first folding plate 102 and output torque of a motor for driving the folding action, so that work efficiency can be further improved. In a further embodiment, the air holes 60 may include one or more combinations of the following shapes: square, circular, and oval. However, a specific shape of the air holes 60 is not strictly limited in this application.

In an embodiment of this application, the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 may use one or more combinations of the following materials: carbon fiber plate, epoxy resin plate, acrylonitrile/butadiene/styrene copolymer plate and acrylic plate. In a further embodiment, in order to the output torque of the motor for driving the folding action, weight of the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 needs to be reduced, so that the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 may be carbon fiber plates. However, it should be understood that specific materials of the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 are not strictly limited in this application either.

In an embodiment of this application, a maximum folding angle formed when the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 fold along the first folding axis 101, the second folding axis 201, the third folding axis 301 and the fourth folding axis 401 respectively ranges from 120° to 180°. Since a folded object itself has a certain weight, in order to improve folding efficiency, after the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 are folded to a certain degree, the folded object can complete a folding process by itself due to gravity. In this self-folding process, the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 can return to their respective original positions. In an embodiment of this application, in order to further improve an alignment effect of two sides of a folded object after the folded object is folded, a maximum folding angle of the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 may be 180°. However, it should be understood that, specifically, the maximum folding angle of the first folding plate 102, the second folding plate 202, the third folding plate 302, and the fourth folding plate 402 may be adjusted based on specific requirements of an actual scenario, which is not strictly limited in this application either.

In an embodiment of this application, the first folding part 10 and the second folding part 20 may include a drive mechanism for driving the first folding plate 102 and the second folding plate 202 to perform a folding action. The first folding part 10 is used as an example. The first folding part 10 may further include a first drive mechanism, and the first drive mechanism is configured to drive the first folding plate 102 to fold along the first folding axis 101. As shown in FIG. 5, the first drive mechanism may include: a first drive subunit 103; a first rocker 104 fixedly connected to a rotation axis of the first drive subunit 103; and a first bent connecting rod 105 rotatably connected to the first rocker 104 and the first folding plate 102 respectively. In this way, when the rotation axis of the first drive subunit 103 rotates, the first rocker 104 also rotates. Under transmission of the first rocker 104, the first bent connecting rod 105 also rotates, thereby driving the first folding plate 102 to rotate, and then driving the first folding plate 102 to perform a folding action.

In another embodiment of this application, the first folding part 10 is still used as an example. As shown in FIG. 6, the first drive mechanism may include a first linear drive unit. The first linear drive unit includes a second drive subunit 110 (In the example of FIG. 6, the second drive subunit 110 may be integrated in a slider 106. For example, the second drive subunit 110 may be a stepper motor. In another embodiment, the second drive subunit 110 may be connected to the slider 106, for example, an air cylinder is used to drive the slider 106 to slide), the slider 106, a linear guide rod 107, and a rotation axis base 108, where the second drive subunit 110 is configured to drive the slider 106 to move along the linear guide rod 107, and one end of the linear guide rod 107 is rotatably connected to the rotation axis base 108. The first linear drive unit further includes a fourth connecting rod 109, where one end of the fourth connecting rod 109 is fixedly connected to the first folding axis 101, and the other end is rotatably connected to the slider 106. In this way, the second drive subunit 110 may change a distance between the slider 106 and the rotation axis base 108 during a process of driving the slider 106 to move along the linear guide rod 107. Under transmission of the fourth connecting rod 109, the linear guide rod 107 swings relative to the rotation axis base 108 and cause the first folding axis 101 to rotate. The first folding plate 102 may be fixedly connected to the first folding axis 101, so that the first folding plate 102 may be driven to perform a folding action along the rotation of the first folding axis 101.

In an embodiment of this application, in addition to the first drive mechanism, the first folding part 10 may further include a stroke feedback unit, configured to send a stroke feedback signal when the first folding plate 102 is folded to a preset angle or folded back to the initial position. The stroke feedback unit may be implemented by using a mechanical stroke switch, a photoelectric sensor, a Hall sensor and other structures. In this way, when the first folding plate 102 is folded to a specific position or folded back to the initial position, the stroke feedback unit sends the stroke feedback signal to the controller 60, and the controller 60 may immediately stop drive signal output of the drive subunit, to prevent mechanical failure and increase life of the drive subunit.

It should be understood that although only a specific structure and a stroke feedback method of the first drive mechanism are provided above, the second folding part 20 may also use the corresponding driving method and stroke feedback method, or may use a specific structure similar to that in the foregoing embodiment. In the meantime, the specific driving method and stroke feedback method of the first folding part 10 and the second folding part 20 are not limited to the specific implementation modes listed above, and which are not strictly limited in this application.

In an embodiment of this application, since the folding for the third time and the folding for the fourth time do not interfere with each other, in order to further improve folding efficiency, the controller 60 may be further configured to control the third folding part 30 and the fourth folding part 40 to complete the folding for the third time and the fourth time respectively at the same time.

In an embodiment of this application, the controller 60 is further configured to control the transfer part 50 to continue transfer the folded object that has been folded in half for the fifth time to a next process position after the folded object is folded in half for the fifth time. In this way, the folded object after the folding may be directly transferred to a next process, which can further improve application efficiency of the folded object.

In an embodiment of this application, the folding device may further include a grasping mechanism, where the grasping mechanism is configured to grasp a folded object and release the folded object on a plane that is formed by the first folding plate 102 and the second folding plate 202 when they are not folded. In a further embodiment of this application, the grasping mechanism may include a plurality of grasping units that are dispersedly arranged, where the plurality of grasping units include one or more combinations of the following items: a needle chuck, an electrostatic chuck and a pneumatic gripper. However, it should be understood that, in other embodiments of this application, the folded object may also be manually released on the plane that is formed by the first folding plate 102 and the second folding plate 202 when they are not folded. Whether the folding device includes a grasping mechanism and a specific type and distribution of the grasping units in the grasping mechanism are not specifically limited in this application.

The foregoing embodiments are merely preferred embodiments of this application, and are not intended to limit the protection scope of this application. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of this application shall fall within the protection scope of this application. 

What is claimed is:
 1. A folding device, comprising: a first folding part, configured to fold, for a first time in a first direction, a folded object in half; a second folding part, configured to fold for a second time in a second direction in half, the folded object that has been folded in half for the first time, wherein the first direction is opposite to the second direction; a third folding part, configured to fold, for a third time in a third direction, one end of the folded object that has been folded in half for the second time, wherein the third direction is perpendicular to the second direction; a fourth folding part, configured to fold, for a fourth time in a fourth direction, the other end of the folded object that has been folded in half for the second time, where the fourth direction is opposite to the third direction; and a transfer part, configured to transfer, in a direction from the third folding part to the fourth folding part, the folded object that has been folded for the fourth time to the fourth folding part; wherein the fourth folding part is further configured to fold, for a fifth time in the fourth direction, the folded object in half after the folded object that has been folded for the fourth time is transported by the transfer part to the fourth folding part.
 2. The folding device of claim 1, wherein the first folding part comprises a first folding axis and a first folding plate folded along the first folding axis; the second folding part comprises a second folding axis and a second folding plate folded along the second folding axis; the third folding part comprises a third folding axis and a third folding plate folded along the third folding axis; and the fourth folding part comprises a fourth folding axis and a fourth folding plate folded along the fourth folding axis; wherein the first folding axis is parallel to the second folding axis; the third folding axis and the fourth folding axis are located between the first folding axis and the second folding axis, and both are perpendicular to the first folding axis.
 3. The folding device of claim 2, wherein a surface of the second folding plate comprises: a first crease pressing block disposed, in a direction perpendicular to the second folding axis, correspondingly with the third folding axis, and a second crease pressing block disposed, in the direction perpendicular to the second folding axis, correspondingly with the fourth folding axis; and/or a third crease pressing block disposed, in the direction perpendicular to the second folding axis, correspondingly with a center line of a gap between the third folding axis and the fourth folding axis.
 4. The folding device of claim 3, wherein the surface of the second folding plate comprises a plurality of the first crease pressing blocks, and a connection line of the plurality of the first crease pressing blocks is parallel to the axis of the third folding axis; the surface of the second folding plate comprises a plurality of the second crease pressing blocks, and a connection line of the plurality of the second crease pressing blocks is parallel to the axis of the fourth folding axis; the surface of the second folding plate comprises a plurality of the third crease pressing blocks, and a connection line of the plurality of third crease pressing blocks is parallel to a center line of a gap between the third folding axis and the fourth folding axis.
 5. The folding device of claim 3, wherein the first crease pressing block and/or the second crease pressing block and/or the third crease pressing block are elongated blocks, and a cross-section of the elongated block comprises a triangular head.
 6. The folding device of claim 2, wherein the folded object is square, a width of the first folding plate in a direction perpendicular to the first folding axis is half of a width of the folded object, a width of the second folding plate in a direction perpendicular to the second folding axis is a quarter of the width of the folded object, a width of the third folding plate in a direction perpendicular to the third folding axis is a quarter of the width of the folded object, and a width of the fourth folding plate in a direction perpendicular to the fourth folding axis is a quarter of the width of the folded object; Wherein a spacing between the first folding axis and the second folding axis is a quarter of the width of the folded object, a spacing between the third folding axis and the fourth folding axis is half of the width of the folded object.
 7. The folding device of claim 6, further comprising: a controller, electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the transfer part respectively; wherein the controller is configured to control, by sending a control command, the first folding part, the second folding part, the third folding part and the fourth folding part to complete their respective folding actions, and the transfer part to complete a transfer; wherein the controller is further configured to control the transfer part to transfer the center line, parallel to the fourth folding axis, of the folded object that has been folded for the fourth time to a position above the fourth folding axis.
 8. The folding device of claim 2, wherein the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate are each provided with a plurality of air holes on their surfaces.
 9. The folding device of claim 2, wherein the transfer part comprises a single transfer belt mechanism or a plurality of transfer belt mechanisms arranged side by side in parallel; wherein the third folding plate comprises: a plurality of third folding units dispersedly arranged in a gap between the single transfer belt mechanism or the plurality of the transfer belt mechanisms, the first folding axis and the second folding axis, wherein each of the third folding units is folded along the third folding axis; the fourth folding plate comprises a plurality of fourth folding units dispersedly arranged in a gap between the single transfer belt mechanism or the plurality of the transfer belt mechanisms, the first folding axis and the second folding axis, wherein each of the fourth folding units is folded along the fourth folding axis.
 10. The folding device of claim 9, wherein the third folding part comprises: a third rotation drive unit disposed below the third folding axis; a third rocker fixedly connected to a rotation axis of the third rotation drive unit; and a third bent connecting rod rotatably connected to the third rocker and the third folding unit, respectively; wherein the third folding unit comprises a support part and a connection part that are not parallel connected, wherein an end of the support part is connected to the third bent connecting rod, another end of the support part is rotatably connected to the third folding axis through the connection part, and the support part is located below a transfer belt of the transfer belt mechanism in an unfolded state.
 11. The folding device of claim 9, wherein the transfer belt mechanism comprises: a transfer drive motor; a transfer wheel set fixedly connected to a rotation axis of the transfer drive motor; and a transfer belt disposed on transfer wheels of the transfer wheel set.
 12. The folding device of claim 2, wherein the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate use one or more combinations of following materials: carbon fiber plate, epoxy resin plate, acrylonitrile/butadiene/styrene copolymer plate and acrylic plate.
 13. The folding device of claim 2, wherein a maximum folding angle of the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate ranges from 120° to 180°.
 14. The folding device of claim 2, wherein the first folding part further comprises: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; wherein the first drive mechanism comprises: a first drive subunit; a first rocker fixedly connected to a rotation axis of the first drive subunit; and a first bent connecting rod rotatably connected to the first rocker and the first folding plate respectively.
 15. The folding device of claim 2, wherein the first folding part further comprises: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; wherein the first drive mechanism comprises: a first linear drive unit, comprising a second drive subunit, a slider, a linear guide rod and a rotation axis base, wherein the second drive subunit is configured to drive the slider to move along the linear guide rod, and an end of the linear guide rod is rotatably connected to the rotation axis base; and a fourth connecting rod, wherein an end of the fourth connecting rod is fixedly connected to the first folding axis, and another end is rotatably connected to the slider.
 16. The folding device of claim 2, wherein the first folding part further comprises: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; and a stroke feedback unit, configured to send a stroke feedback signal when the first folding plate is folded to a preset angle or folded back to the initial position.
 17. The folding device of claim 1, further comprising: a controller, electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the transfer part, respectively; wherein the controller is configured to control, by sending control commands, the first folding part, the second folding part, the third folding part and the fourth folding part to complete their respective folding actions, and the transfer part to complete a transfer; wherein the controller is further configured to control the third folding part and the fourth folding part to complete folding for the third time and the fourth time respectively at a same time.
 18. The folding device of claim 17, wherein the controller is further configured to control the transfer part to continue transfer the folded object that has been folded in half for the fifth time to a next process position after the folded object is folded in half for the fifth time.
 19. The folding device of claim 1, further comprising: a grasping mechanism, configured to grasp the folded object and release the folded object on a plane that is formed by the first folding plate and the second folding plate when they are not folded.
 20. The folding device of claim 19, wherein the grasping mechanism comprises a plurality of grasping units that are dispersedly arranged, wherein the plurality of grasping units comprise one or more combinations of the following items: a needle chuck, an electrostatic chuck and a pneumatic gripper. 